\begin{tikzpicture}           
% Grid
\draw [rounded corners,menublue,fill=gray99, ultra thin]
(0,2.5) -- (0,0) -- (6,0) -- (6,5) -- (0,5) -- (0,2.5);
\draw [color=gray95, thin] (3,0) -- (3,5);
\draw [color=gray95, thin] (3.3871,0) -- (3.3871,5);
\draw [color=gray95, thin] (3.77421,0) -- (3.77421,5);
\draw [color=gray95, thin] (4.16131,0) -- (4.16131,5);
\draw [color=gray95, thin] (4.54842,0) -- (4.54842,5);
\draw [color=gray95, thin] (4.93552,0) -- (4.93552,5);
\draw [color=gray95, thin] (5.32263,0) -- (5.32263,5);
\draw [color=gray95, thin] (5.70973,0) -- (5.70973,5);
\draw [color=gray95, thin] (2.6129,0) -- (2.6129,5);
\draw [color=gray95, thin] (2.22579,0) -- (2.22579,5);
\draw [color=gray95, thin] (1.83869,0) -- (1.83869,5);
\draw [color=gray95, thin] (1.45158,0) -- (1.45158,5);
\draw [color=gray95, thin] (1.06448,0) -- (1.06448,5);
\draw [color=gray95, thin] (0.677373,0) -- (0.677373,5);
\draw [color=gray95, thin] (0.290268,0) -- (0.290268,5);
\draw [color=gray95, thin] (0,2.5) -- (6,2.5);
\draw [color=gray95, thin] (0,2.8871) -- (6,2.8871);
\draw [color=gray95, thin] (0,3.27421) -- (6,3.27421);
\draw [color=gray95, thin] (0,3.66131) -- (6,3.66131);
\draw [color=gray95, thin] (0,4.04842) -- (6,4.04842);
\draw [color=gray95, thin] (0,4.43552) -- (6,4.43552);
\draw [color=gray95, thin] (0,4.82263) -- (6,4.82263);
\draw [color=gray95, thin] (0,2.1129) -- (6,2.1129);
\draw [color=gray95, thin] (0,1.72579) -- (6,1.72579);
\draw [color=gray95, thin] (0,1.33869) -- (6,1.33869);
\draw [color=gray95, thin] (0,0.951582) -- (6,0.951582);
\draw [color=gray95, thin] (0,0.564477) -- (6,0.564477);
\draw [color=gray95, thin] (0,0.177373) -- (6,0.177373);
% Grid
\draw [rounded corners,menublue, ultra thin]
(0,2.5) -- (0,0) -- (6,0) -- (6,5) -- (0,5) -- (0,2.5);

% Draw Circle: contact:range
\draw [color=darkblue, very thin] 
(3,2.40005) circle (1.93552cm);

% Draw Wedge: contact:twedge
\draw [color=black,fill=gray95, very thin] 
(3,2.40005) -- (3.40242,4.29328) arc (78:102:1.93552) -- (3,2.40005) arc (102:78:0) -- cycle;
% Draw Wedge: ownship:os_headon
\draw [color=black,fill=gray98, very thin] 
(2.88387,4.33557) -- (3.15324,2.41888) arc (278:302:1.93552) -- (2.88387,4.33557) arc (302:278:0) -- cycle;
% Text Label
\draw [color=black] (2.00359,4.48886) node {\scriptsize
ownship
};

% Text Label
\draw [color=black] (2.99226,1.92778) node {\scriptsize
contact
};

% Ship drawing: inside triangle
\draw [color=gray90, fill=gray90, ultra thin] 
(2.94747,2.2065) -- (3,2.5936) -- (3.05253,2.2065);
% Ship drawing: left side of bow 
\draw [color=black,fill=gray90, ultra thin] 
(2.94747,2.2065) .. controls (2.90322,2.44844) .. (3,2.5936);
% Ship drawing: right side of bow 
\draw [color=black,fill=gray90, ultra thin] 
(3.05253,2.2065) .. controls (3.09678,2.44844) .. (3,2.5936);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(2.94747,2.2065) -- (3.05253,2.2065);
% Ship drawing: inside triangle
\draw [color=white, fill=white, ultra thin] 
(2.86773,4.53547) -- (2.94943,4.15346) -- (2.76888,4.49989);
% Ship drawing: left side of bow 
\draw [color=black,fill=white, ultra thin] 
(2.86773,4.53547) .. controls (2.99547,4.32432) .. (2.94943,4.15346);
% Ship drawing: right side of bow 
\draw [color=black,fill=white, ultra thin] 
(2.76888,4.49989) .. controls (2.80505,4.25577) .. (2.94943,4.15346);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(2.86773,4.53547) -- (2.76888,4.49989);
% Draw Point: ownship:ship_ctr
\draw [color=black,fill=black, thin] 
(2.88387,4.33557) circle (0.02cm);
% Draw Point: contact:ship_ctr
\draw [color=black,fill=black, thin] 
(3,2.40005) circle (0.02cm);
% Draw Line: ownship:cn_north
\draw [color=gray25, ->, thin] 
(3,2.40005) -- (3,2.78715);
\end{tikzpicture}  
